|
|||||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | ||||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Objectsugr.Element
sugr.Entity
sugr.Object_3D
sugr.Line_3D
Implementation of Line_3D
Field Summary | |
private static int |
DIM
|
private static int |
DOF
|
private static long |
serialVersionUID
Class version number for serialization |
private static double |
ZERO_THRESHOLD_CONSTR
Threshold for zero used in constructors for checking pluecker condition. |
Fields inherited from class sugr.Element |
cov, MAXITER, v |
Constructor Summary | |
Line_3D()
Default constructor |
|
Line_3D(BiRelationalProperty[] rprops)
estimates a new line. |
|
Line_3D(double l1,
double l2,
double l3,
double l4,
double l5,
double l6)
Creates a new Line_3D by specifying all elements directly. |
|
Line_3D(double l1,
double l2,
double l3,
double l4,
double l5,
double l6,
Matrix cov)
Creates a new Line_3D with covariance by specifying all elements directly. |
|
Line_3D(double l1,
double l2,
double l3,
double l4,
double l5,
double l6,
Matrix cov,
boolean testPlueckerCondition)
Creates a new Line_3D with covariance by specifying all elements directly. |
|
Line_3D(Plane_3D plane1,
Plane_3D plane2)
Creates a Line_3D by an intersection of two Plane_3D. |
|
Line_3D(Point_3D point1,
Point_3D point2)
Creates a Line_3D from two Point_3D. |
|
Line_3D(Vector _v,
Matrix _cov)
Constructor for a new Line_3D |
Method Summary | |
boolean |
checkPlueckerCondition(double zero_threshold)
Check the pluecker condition. |
Line_3D |
copy()
Returns a copy of this line. |
static Matrix |
DualMatrixC()
Get the dualization matrix C with LDual=C*L. |
Matrix |
Gamma()
Returns the gamma matrix of this line |
static Matrix |
Gamma(Vector v)
Returns the gamma matrix of a 6x1 vector. |
Matrix |
GammaDual()
Returns the gamma-dual of this line. |
static Matrix |
GammaDual(Vector v)
Returns the gamma-dual of a 6x1 vector. |
protected Matrix |
getConditionMatrix(double f)
Get a matrix W(f) for conditioning. |
protected Vector |
getConstraintValue()
Get the value of the constraint (h(beta) or g(y)) if this entity is an unknown or an observation. |
Matrix |
getCovarianceOfJacobianRowOfRelation(java.lang.Class relationType,
java.lang.Class partnerType,
int row)
Return Covariance of a Row of the Jacobian Matrix of that entity in combination with a relation. |
int |
getDegreesOfFreedom()
Returns dof=4 for this line |
Matrix |
getDeltaMatrix(int i)
Compute Matrix Delta_i of this line. |
int |
getDimension()
Returns dimension=6 |
double |
getDistance(Entity e)
Compute the (euclidean) distance to another entity. |
int |
getDofOfRelation(java.lang.Class relationType,
java.lang.Class partnerType)
Compute degrees of freedom of a relation. |
Line_3D |
getDual()
Create a new Line, which is the Dual of this line. |
Vector |
getEuclideanPart()
returns the euclidean part of this line |
Vector |
getHomogeneousPart()
returns the homogeneous part of this plane |
Matrix |
getJacobianOfConstraint()
Get the Jacobian of the constraint (H, G) if this entity is an unkown or an observation |
Matrix |
getJacobianOfRelation(java.lang.Class relationType,
java.lang.Class partnerType)
Return Jacobian Matrix of that entity in combination with a relation. |
Matrix |
getLineLineJacobian()
Returns the 16x6 jacobi-matrix for the line-equality-test This formula is from the dissertation (3.70). |
protected Matrix[] |
getReducedAB(RelationalProperty rprop)
Get the reduced Matrix A and B from a relational property. |
Matrix |
getReducedDeltaMatrix(int i)
Compute reduced Matrix Delta_i of this line. |
static Matrix |
JGamma()
Get the Matrix JGamma. vec(GammaDual(L)) = JGamma*C*L. |
void |
normalizeEuclidean()
Normalizes in that way, that the homogeneous part will be 1 |
Methods inherited from class sugr.Element |
approximate, calcCov, changeNullspace, changeNullspace, checkCovDim, checkElement, clone, ensureConstraints, estimate, estimate, gaussHelmertIterations, gaussHelmertIterationsOld, getCov, getV, normalizeSphere, normalizeSphereComparable, print, print, reduceFirstMatrix, reduceMatrix, reduceMatrix, setCov, setV, toString |
Methods inherited from class java.lang.Object |
equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Field Detail |
private static final long serialVersionUID
private static final int DIM
private static final int DOF
private static final double ZERO_THRESHOLD_CONSTR
Constructor Detail |
public Line_3D(Vector _v, Matrix _cov)
_v
- a Vector with dimension 6. Contains the coordinates of the new Line_2D_cov
- 6x6 covariance matrixpublic Line_3D(double l1, double l2, double l3, double l4, double l5, double l6)
public Line_3D(double l1, double l2, double l3, double l4, double l5, double l6, Matrix cov)
cov
- 6x6 Matrixpublic Line_3D(double l1, double l2, double l3, double l4, double l5, double l6, Matrix cov, boolean testPlueckerCondition)
cov
- 6x6 MatrixtestPlueckerCondition
- if false do NOT test pluecker condition.
Be careful with that, because if Pluecker condition is not met,
this is not a 3D-Line !.public Line_3D(Plane_3D plane1, Plane_3D plane2)
plane1
- first Plane_3Dplane2
- second Plane_3Dpublic Line_3D(BiRelationalProperty[] rprops)
rprops
- an array of constraints.public Line_3D(Point_3D point1, Point_3D point2)
point1
- first Point_3Dpoint2
- second Point_3Dpublic Line_3D()
Method Detail |
public boolean checkPlueckerCondition(double zero_threshold)
zero_threshold
- a threshold for the scalarproduct beeing zero.
public Line_3D getDual()
public Vector getEuclideanPart()
getEuclideanPart
in class Entity
public Vector getHomogeneousPart()
getHomogeneousPart
in class Entity
public double getDistance(Entity e)
getDistance
in class Entity
e
- the entity to which a distance should be computed.
protected Matrix getConditionMatrix(double f)
getConditionMatrix
in class Entity
f
- the conditioning factor
public Line_3D copy()
public int getDimension()
getDimension
in class Element
public int getDegreesOfFreedom()
getDegreesOfFreedom
in class Entity
public static Matrix GammaDual(Vector v)
public Matrix GammaDual()
public static Matrix Gamma(Vector v)
public Matrix Gamma()
public Matrix getLineLineJacobian()
protected Matrix[] getReducedAB(RelationalProperty rprop)
getReducedAB
in class Element
rprop
- the relational Property
public Matrix getDeltaMatrix(int i)
i
- : The index i=0, ..., 5 for which Matrix delta is built.
public Matrix getReducedDeltaMatrix(int i)
i
- : The index i=0, ..., 5 for which Matrix delta is built.
public void normalizeEuclidean()
normalizeEuclidean
in class Entity
protected Vector getConstraintValue()
getConstraintValue
in class Element
public Matrix getJacobianOfConstraint()
getJacobianOfConstraint
in class Element
public Matrix getJacobianOfRelation(java.lang.Class relationType, java.lang.Class partnerType) throws java.lang.IllegalArgumentException
getJacobianOfRelation
in class Entity
relationType
- the type of the relationpartnerType
- the type of the other partner in the relation
java.lang.IllegalArgumentException
public int getDofOfRelation(java.lang.Class relationType, java.lang.Class partnerType) throws java.lang.IllegalArgumentException
Compute degrees of freedom of a relation.
getDofOfRelation
in class Entity
relationType
- the type of the relationpartnerType
- the type of the other partner in the relation
java.lang.IllegalArgumentException
public Matrix getCovarianceOfJacobianRowOfRelation(java.lang.Class relationType, java.lang.Class partnerType, int row) throws java.lang.IllegalArgumentException
getCovarianceOfJacobianRowOfRelation
in class Entity
relationType
- the type of the relationpartnerType
- the type of the other partner in the relation
java.lang.IllegalArgumentException
public static Matrix JGamma()
public static Matrix DualMatrixC()
|
|||||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | ||||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |